Collision control method and apparatus, and storage medium

ABSTRACT

The present disclosure relates to a collision control method and apparatus, an electronic device, and a storage medium. The method includes: detecting a target object in an image photographed by a traveling object; determining a forward collision hazard region of the traveling object; and executing collision control on the traveling object based on a relative relationship between the target object and the forward collision hazard region, where the collision control includes collision warning and/or driving control.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of and claims priority under35 U.S.C. § 120 to PCT Application. No. PCT/CN2019/084527, filed on Apr.26, 2019, which claims priority to Chinese Patent Application No.201810404555.0, filed with the Chinese Patent Office on Apr. 28, 2018and entitled “COLLISION CONTROL METHOD AND APPARATUS, ELECTRONIC DEVICE,AND STORAGE MEDIUM”. All above-referenced priority documents areincorporated herein by reference in their entirety.

TECHNICAL FIELD

The present disclosure relates to the field of computer visiontechnologies, and in particular to a collision control method andapparatus, an electronic device, and a storage medium.

BACKGROUND

During intelligent driving of a vehicle, targets such as pedestrians andother vehicles needs to be sensed by using a computer vision technology,and the sensed targets are used for decision-making on the intelligentdriving.

SUMMARY

The present disclosure provides technical solutions for collisioncontrol.

According to one aspect of the present disclosure, a collision controlmethod is provided, including: detecting a target object in an imagephotographed by a traveling object; determining a forward collisionhazard region of the traveling object; and executing collision controlon the traveling object based on a relative relationship between thetarget object and the forward collision hazard region, where thecollision control includes collision warning and/or driving control.

According to one aspect of the present disclosure, a collision controlapparatus is provided, and the apparatus includes: a target objectdetection module, configured to detect a target object in an imagephotographed by a traveling object; a forward collision hazard regiondetermination module, configured to determine a forward collision hazardregion of the traveling object; and a collision control executionmodule, configured to execute collision control on the traveling objectbased on a relative relationship between the target object and theforward collision hazard region, where the collision control includescollision warning and/or driving control.

According to one aspect of the present disclosure, an electronic deviceis provided, including: a processor; and a memory configured to storeprocessor executable instructions, where the processor directly orindirectly invokes the executable instructions to execute the foregoingcollision control method.

According to one aspect of the present disclosure, a computer readablestorage medium is provided, where the computer readable storage mediumstores computer program instructions, and the foregoing collisioncontrol method is executed when the computer program instructions areexecuted by a processor.

According to one aspect of the present disclosure, a computer program isprovided, where the foregoing collision control method is executed whenthe computer program is executed by a processor.

In the embodiments of the present disclosure, collision control isexecuted on the traveling object based on the relationship between thedetected target object and the forward collision hazard region of thetraveling object, so that the collision control on the traveling objectis more pertinent, efficient, and accurate.

Exemplary embodiments are described in detail below with reference tothe accompanying drawings, and other features and aspects of the presentdisclosure become clear.

BRIEF DESCRIPTION OF THE DRAWINGS

Accompanying drawings included in the specification and constructing apart of the specification jointly show the exemplary embodiments,characteristics, and aspects of the present disclosure, and are intendedto explain the principles of the present disclosure.

FIG. 1 is a flowchart of a collision control method according to anembodiment of the present disclosure;

FIG. 2 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure;

FIG. 3 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure;

FIG. 4 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure;

FIG. 5 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure;

FIG. 6 is a block diagram of a collision control apparatus according toan exemplary embodiment of the present disclosure;

FIG. 7 is a block diagram of an electronic device according to anexemplary embodiment of the present disclosure;

FIG. 8a is a schematic diagram of a forward collision hazard region in acollision control method according to an exemplary embodiment of thepresent disclosure;

FIG. 8b is a schematic diagram of a forward collision hazard region in acollision control method according to an exemplary embodiment of thepresent disclosure;

FIG. 8c is a schematic diagram of a forward collision hazard region in acollision control method according to an exemplary embodiment of thepresent disclosure; and

FIG. 8d is a schematic diagram of a forward collision hazard region in acollision control method according to an exemplary embodiment of thepresent disclosure.

DETAILED DESCRIPTION

The following will describe various exemplary embodiments, features, andaspects of the present disclosure in detail with reference to theaccompanying drawings. Like accompanying symbols in the accompanyingdrawings represent elements with like or similar functions. Althoughvarious aspects of the embodiments are illustrated in the accompanyingdrawing, the accompanying drawings are not necessarily drawn inproportion unless otherwise specified.

The special term “exemplary” here means “used as an example, anembodiment, or an illustration”. Any embodiment described as “exemplary”here is not necessarily to be interpreted as superior to or better thanother embodiments.

In addition, for better illustration of the present disclosure, variousspecific details are given in the following specific implementations. Aperson skilled in the art should understand that the present disclosuremay also be implemented without some specific details. In some examples,methods, means, elements, and circuits well known to a person skilled inthe art are not described in detail so as to highlight the subjectmatter of the present disclosure.

FIG. 1 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure. As shown in FIG. 1, thecollision control method includes the following steps.

At step S10, a target object in an image photographed by a travelingobject is detected.

In a possible implementation, the target object may be any type ofobject. For example, the target object may include at least one of thefollowing: a pedestrian, a vehicle, a non-motor vehicle, a plant, ananimal, an obstacle, a robot, or a building.

The target object may one or more target objects in one object type, andmay also be a plurality of target objects in a plurality of objecttypes. For example, it is possible to use only a vehicle as the targetobject; the target object may be one vehicle, and may also be aplurality of vehicles. It is also possible to use a vehicle and apedestrian jointly as the target object. The target object may be aplurality of vehicles and a plurality of pedestrians. As required, it ispossible to use a specified object type as the target object, and it isalso possible to use a specified individual object as the target object.

The traveling object may include a movable object such as a motorvehicle, a non-motor vehicle, or a robot. The traveling object may alsobe a device carried or worn by a person.

When the traveling object is a vehicle, the embodiments of the presentdisclosure may be used in the technical fields of automatic driving,assistant driving and the like. The traveling object may be determinedas required. This is not limited in the present disclosure.

A photographing apparatus may be provided on the traveling object tophotograph an image in a specified direction. The traveling object mayphotograph an image in any one or more directions such as a frontdirection, a rear direction, and a side direction of the travelingobject. This is not limited in the present disclosure.

The image photographed by the traveling object may include a singleframe image photographed by using the photographing apparatus, and mayalso include a frame image in a video stream photographed by using thephotographing apparatus.

The traveling object may photograph images by using visual sensors suchas a monocular camera, an RGB camera, an infrared camera, and abinocular camera. The monocular camera system has low costs and is quickin response, the RGB camera or the infrared camera may be used tophotograph an image in a special environment, and the binocular cameramay be used to obtain more abundant information about the target object.Different photographing devices are selected based on anti-collisionrequirements, an environment, the type of the traveling object, costs,and the like. This is not limited in the present disclosure.

A result obtained by detecting the target object in the imagephotographed by the traveling object may include a feature of the targetobject, and may also include a status of the target object. This is notlimited in the present disclosure.

For example, the detection result includes the feature (for example, thepedestrian is an old person), the position (for example, the relativeposition of the target object with respect to the traveling object), thedistance (for example, the distance between the target object and thetraveling object), the speed (for example, the relative speed of thetarget object with respect to the traveling object), the acceleration,and the moving direction (for example, the moving direction of thetarget object with respect to the traveling object) of the targetobject.

At step S20, a forward collision hazard region of the traveling objectis determined.

In a possible implementation, the forward collision hazard region is aregion in which collision may occur in a forward moving process of thetraveling object or a region in which a collision probability meets apredetermined condition. The forward collision hazard region isdetermined based on an actual requirement and/or a detection condition.For example, the forward collision hazard region has, but not limitedto, different shapes such as a rectangle, a sector, and a trapezoid.This is not limited in the present application. FIG. 8a , FIG. 8b , FIG.8c , and FIG. 8d are schematic diagrams of forward collision hazardregions. FIG. 8a , FIG. 8c , and FIG. 8d show rectangular forwardcollision hazard regions, and FIG. 8b shows a sector-shaped forwardcollision hazard region.

At step S30, collision control is executed on the traveling object basedon a relative relationship between the target object and the forwardcollision hazard region, where the collision control includes collisionwarning and/or driving control.

In a possible implementation, the relative relationship between thetarget object and the forward collision hazard region may include: thetarget object is inside or outside the forward collision hazard region,the target object tends to enter the forward collision hazard region(for example, the target object is outside the forward collision hazardregion and the target object moves into the forward collision hazardregion), and the like. The relative relationship between the targetobject and the forward collision hazard region may reflect a hazarddegree of collision between the target object and the traveling object.

In the embodiments, collision control is executed on the travelingobject based on the relationship between the detected target object andthe forward collision hazard region of the traveling object, so that thecollision control on the traveling object is more pertinent, efficient,and accurate.

FIG. 2 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure. As shown in FIG. 2, stepS30 in the collision control method includes the following steps.

At step S31, a hazard level of the target object is determined based onthe relative relationship between the target object and the forwardcollision hazard region.

At step S32, collision control corresponding to the hazard level isexecuted on the traveling object.

In a possible implementation, the hazard level of the target object isdivided into a hazardous level, a safe level, or the like, and may alsobe divided into a first hazard level, a second hazard level, a thirdhazard level, or the like.

In a possible implementation, the collision control includes collisionwarning and/or driving control, and the driving control may include atleast one of the following: changing a driving direction, changing adriving speed, or stopping.

Corresponding collision warning is executed based on the relativerelationship between the target object and the forward collision hazardregion, to warn an impending hazard. The collision warning may includevarious forms of warning such as sound warning (an alarm sound, a voiceprompt, or the like), visual warning (an indicator lamp, on-screendisplay, or the like), and vibration warning. Different collisionwarning is set for different relative relationships, such as differentvoice or display contents, different volumes, and different vibrationintensities. Corresponding collision warning is triggered based on thedetermined relative relationship, to help a user of the traveling objectdistinguish hazard degrees of various target objects.

For example, if the relative relationship is that the target object isin the forward collision hazard region, the hazard degree is relativelyhigh, and collision warning executed corresponding to the relativerelationship is a voice announcement: “There are pedestrians nearby.Please give way to them immediately!”, or is a large-volume alarm sound.If the relative relationship is that the target object is in the forwardcollision hazard region, the hazard degree is relatively low, andcollision warning executed corresponding to the relative relationship isa voice announcement: “Please be careful to give way to pedestrians”, oris a low-volume alarm sound.

Different types of collision warning may be executed separately or incombination.

Driving control corresponding to the relative relationship may also beexecuted. For example, a corresponding driving control manner isdetermined based on the relative relationship, and a driving instructioncorresponding to the driving control manner is transmitted to a controlsystem of a vehicle, to implement driving control.

For example, if the relative relationship is that the target object isoutside the forward collision hazard region, the hazard degree isrelatively low, and driving control executed corresponding to therelative relationship is deceleration, for example, reducing the speedby 10%. If the relative relationship is that the target object is in theforward collision hazard region, the hazard degree is relatively high,and driving control executed corresponding to the relative relationshipis greater deceleration, for example, reducing the speed by 50% orbraking.

The collision warning and the driving control may be executedalternatively, and may also be executed simultaneously. If the targetobject and the forward collision hazard region are in different relativerelationships, these correspond to different hazard levels. Differentcollision control is executed for different hazard levels to warn oravoid hazards.

In the embodiments, the relative relationship and the correspondencebetween the hazard level and the collision control are established, toimplement accurate and pertinent collision control on the target object.

In a possible implementation, the hazard level includes a first hazardlevel and a second hazard level. Step S31 includes:

determining the hazard level of the target object as the first hazardlevel if the target object is in the forward collision hazard region; ordetermining the hazard level of the target object as the second hazardlevel if the target object is outside the forward collision hazardregion.

The first hazard level is higher than the second hazard level. When thetarget object is in the forward collision hazard region, the hazardlevel of the target object is high; when the target object is outsidethe forward collision hazard region, the hazard level of the targetobject is low. The hazard degree of the first hazard level is higherthan the hazard degree of the second hazard level, and the collisioncontrol level corresponding to the first hazard level is also higherthan the collision control level corresponding to the second hazardlevel. For example, for the first hazard level, high-degree decelerationand high-volume sound reminding are executed, and for the second hazardlevel, low-degree deceleration and low-volume sound reminding areexecuted, or only sound reminding is executed. In this manner, thetarget objects in the forward collision hazard region and outside theforward collision hazard region are classified into different hazardlevels, so that collision control may be executed more accurately.

In a possible implementation, the hazard level further includes a thirdhazard level. Step S31 includes:

determining the hazard level of the target object as the third hazardlevel if the target object is outside the forward collision hazardregion and the target object moves into the forward collision hazardregion.

The hazard degree of the third hazard level is lower than that of thefirst hazard level and higher than that of the second hazard level. Thecollision control level corresponding to the third hazard level is alsohigher than the collision control level corresponding to the secondhazard level and higher than the collision control level correspondingto the first hazard level. For example, for the third hazard level,medium-degree deceleration and medium-volume sound reminding areexecuted. In this way, a proper hazard level is set for a target havinga trend to enter the forward collision hazard region, so that collisioncontrol may be executed more accurately.

In the embodiments, the hazard level of the target object is determinedbased on the relative relationship between the target object and theforward collision hazard region, so that collision control is executedon the traveling object more pertinently. In this way, the collisioncontrol on the traveling object is more accurate.

FIG. 3 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure. As shown in FIG. 3, stepS20 in the collision control method includes the following step.

At step S21, the forward collision hazard region of the traveling objectis determined based on a hazard distance, the width of the travelingobject, and/or the width of a road where the traveling object islocated.

In a possible implementation, the forward collision hazard region isdetermined based on factors such as parameters of the traveling objectand environment parameters.

In a possible implementation, the hazard distance may indicate adistance between the farthest boundary of the forward collision hazardregion in front of the traveling object and the traveling object, forexample, a distance D in FIG. 8a . The hazard distance is determinedbased on a requirement of collision control, an environment in which thetraveling object is located, and a feature of the traveling object. Forexample, the higher the hazard degree of the environment in which thetraveling object is located, the longer the hazard distance, andcollision control is thus performed as early as possible.

The hazard distance is determined based on performance parameters of thetraveling object, such as, the driving speed and the braking distance ofthe vehicle. The performance parameters may be obtained by performingreal-time detection on the traveling object, and may also be obtainedbased on a preset parameter of the traveling object. The hazard distancemay also be determined based on current environment factors, such as asnow accumulation extent, a water accumulation extent, or visibility.The environment factors may be obtained through real-time detection, andmay also be obtained from an external database via the Internet or thelike.

For example, the faster the driving speed of the vehicle, the longer thehazard distance; the longer the braking distance, the longer the hazarddistance; and the worse the environment condition (such as heavy snow orwater, or low visibility), the longer the hazard distance. The specificmanner of determining the hazard distance is not limited in the presentdisclosure.

For example, the forward collision hazard region is determined based onthe hazard distance and the width of the traveling object.

For example, the width W of the vehicle is obtained based on a presetparameter of the vehicle. A rectangular forward collision hazard regionmay be determined by using W as a width, the hazard distance D as alength, and a front contour of the vehicle as an edge, as shown bydashed lines in FIG. 8a . The rectangular region may be appropriatelywidened. For example, the width of the rectangular forward collisionhazard region is widened to W+2L, as shown by solid lines in FIG. 8a .Both sides of the vehicle are respectively widened by L, and L isdetermined based on factors such as the parameters of the travelingobject or the environment parameters.

For another example, a sector-shaped forward collision hazard region maybe formed by using a point O in front of the vehicle as an origin, andthe hazard distance D as a radius, as shown in FIG. 8b . The angle ofthe sector is determined based on the width W of the vehicle, and awider W indicates a larger angle of the sector.

The forward collision hazard region of the traveling object may also bedetermined based on the hazard distance and the width of the road wherethe traveling object is located.

For example, the width M of the road where the vehicle is located isobtained through measurement or based on data from the Internet. Using atwo-way lane as an example, a rectangular forward collision hazardregion may be determined by using M/2−N as a width, the hazard distanceD as a length, and a front contour of the vehicle as an edge, as shownin FIG. 8c . M/2 is the width of the road on which the vehicle travels,for example, the width of a left lane. N is determined based on factorssuch as road conditions or weather. For example, if there is trafficcongestion, N is relatively large.

The forward collision hazard region may also be determined based on thehazard distance, the width of the traveling object, and the width of theroad where the traveling object is located. For example, the width ofthe vehicle is W, the width of the road where the vehicle is located isM. A rectangular forward collision hazard region may be determined byusing M−2N as a width, the hazard distance D as a length, and a frontcontour of the vehicle as an edge, as shown in FIG. 8d . M is the widthof the road on which the vehicle travels, and N is related to W. N mayalso be determined based on factors such as road conditions or weather.For example, if there is traffic congestion, N is relatively large.

In the embodiments, the forward collision hazard region of the travelingobject determined based on the hazard distance, the width of thetraveling object, and/or the hazard distance and the width of the roadwhere the traveling object is located may more conform to the factorssuch as the parameters of the traveling object and the environmentparameters, so that collision control on the traveling object is moreaccurate.

FIG. 4 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure. As shown in FIG. 4, stepS30 in the collision control method includes the following steps.

At step S33, a distance between the target object and the travelingobject is determined.

At step S34, collision control is executed on the traveling object basedon the relative relationship between the target object and the forwardcollision hazard region and the distance.

In a possible implementation, as described above, the distance betweenthe target object and the traveling object may be determined based onthe detection on the target object in the image photographed by thetraveling object.

In a possible implementation, the collision control may include firstcollision control and second collision control. Step S34 may include:

executing the first collision control on the traveling object if thetarget object is in the forward collision hazard region and the distanceis less than or equal to a first distance threshold; or

executing the second collision control on the traveling object if thetarget object is in the forward collision hazard region and the distanceis greater than the first distance threshold.

The level of the first collision control is higher than that of thesecond collision control, so that the shorter the distance from thetarget object in the forward collision hazard region to the travelingobject, the higher the level of collision control executed on thetraveling object. For example, the first collision control includeshigh-degree deceleration and high-volume sound reminding, and the secondcollision control includes medium-degree deceleration and medium-volumesound reminding.

In a possible implementation, the collision control may include thirdcollision control and fourth collision control. Step S34 includes:

executing the third collision control on the traveling object if thetarget object is outside the forward collision hazard region and thedistance is less than or equal to a second distance threshold; or

executing the fourth collision control on the traveling object if thetarget object is outside the forward collision hazard region and thedistance is greater than the second distance threshold.

The level of the third collision control is higher than that of thefourth collision control, so that the shorter the distance from thetarget object outside the forward collision hazard region to thetraveling object, the higher the level of collision control executed onthe traveling object. For example, the third collision control includesmedium-degree deceleration and medium-volume sound reminding, and thefourth collision control includes low-degree deceleration and low-volumesound reminding.

The first distance threshold is less than the second distance threshold.For example, for the target object in the forward collision hazardregion, a relatively small distance threshold (the first distancethreshold), such as 5 meters, is set due to a relatively high hazardlevel of the target object, to execute collision control as early aspossible. For the target object outside the forward collision hazardregion, a relatively large distance threshold (the second distancethreshold), such as 10 meters, is set due to a relatively low hazardlevel of the target object.

In the embodiments, collision control is executed on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region, and the distance between the targetobject and the traveling object. In this way, the collision control onthe traveling object is more accurate.

FIG. 5 is a flowchart of a collision control method according to anexemplary embodiment of the present disclosure. As shown in FIG. 5, stepS30 in the collision control method includes the following steps.

At step S35, a collision time between the target object and thetraveling object is determined.

At step S36, collision control is executed on the traveling object basedon the relative relationship between the target object and the forwardcollision hazard region and the collision time.

In a possible implementation, the collision time T between the targetobject and the traveling object is determined based on a relative movingdirection between the target object and the traveling object, a distanceS in the relative moving direction, and a relative speed V. When thetarget object and the traveling object move toward each other, T=S/V.

In a possible implementation, the collision control includes fifthcollision control and sixth collision control. Step S36 includes:

executing the fifth collision control on the traveling object if thetarget object is in the forward collision hazard region and thecollision time is less than or equal to a first time threshold; or

executing the sixth collision control on the traveling object if thetarget object is in the forward collision hazard region and thecollision time is greater than the first time threshold.

In a possible implementation, the collision control includes seventhcollision control and eighth collision control. Step S36 includes:

executing the seventh collision control on the traveling object if thetarget object is outside the forward collision hazard region and thecollision time is less than or equal to a second time threshold; or

executing the eighth collision control on the traveling object if thetarget object is outside the forward collision hazard region and thecollision time is greater than the second time threshold.

The first time threshold is less than the second time threshold. Forexample, for the target object in the forward collision hazard region, arelatively small time threshold (the first time threshold), such as 1minute, is set due to a relatively high hazard level of the targetobject, to execute collision control as early as possible. For thetarget object outside the forward collision hazard region, a relativelylarge time threshold (the second time threshold), such as 3 minutes, isset due to a relatively low hazard level of the target object.

In the embodiments, collision control is executed on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region, and the collision time between thetarget object and the traveling object. In this way, the collisioncontrol on the traveling object is more accurate.

In a possible implementation, step S10 in the collision control methodmay include: detecting the target object in the image photographed bythe traveling object via a neural network.

The neural network is trained by using a training image set consistingof images of the target objects, and the target object in thephotographed image is identified by using the trained neural network. Atraining process of the neural network and a process of detecting thetarget object via the neural network are implemented by using relatedtechnologies.

The neural network may be based on architectures such as a Region-basedFully Convolutional Network (RFCN), a Single Shot Multibox Detector(SSD), a Region-based Convolutional Neural Network (RCNN), a FastRegion-based Convolutional Neural Network (FastRCNN), a FasterRegion-based Convolutional Neural Network (FasterRCNN), a SpatialPyramid Pooling Convolutional Network (SPPNet), a Deformable Parts Model(DPM), Multi-Task Processing Using One Convolutional Network (OverFeat),and You Only Look Once (YOLO). This is not limited in the presentdisclosure.

For example, a same target object in multiple consecutive video frameimages may be tracked by using an image tracking technology based on aneural network of Back Propagation (BP) or other types, to detect amoving status and a behavior status of the target object. For example,it is detected that the target object moves from the left front to theright front of the traveling object, and looks straight ahead.

For another example, the distance between the target object and thetraveling object is determined by using an image photographed by abinocular camera through a binocular ranging technology based on aneural network of a Region-based Convolutional Neural Network (RCNN) orother types.

In the embodiments, by detecting the target object based on the neuralnetwork, the target object may be detected quickly and accurately in theimage by using a powerful and accurate detection function of the neuralnetwork.

It can be understood that the foregoing method embodiments mentioned inthe present disclosure are combined with each other to form a combinedembodiment without departing from the principle and the logic. Detailsare not described in the present disclosure due to space limitation.

In addition, the present disclosure further provides an image processingapparatus, an electronic device, a computer readable storage medium, anda program. The foregoing are all used to implement any image processingmethod provided in the present disclosure. For corresponding technicalsolutions and descriptions, refer to corresponding descriptions of themethod. Details are not described again.

FIG. 6 is a block diagram of a collision control apparatus according toan exemplary embodiment of the present disclosure. As shown in FIG. 6,the collision control apparatus includes:

a target object detection module 10, configured to detect a targetobject in an image photographed by a traveling object;

a forward collision hazard region determination module 20, configured todetermine a forward collision hazard region of the traveling object; and

a collision control execution module 30, configured to execute collisioncontrol on the traveling object based on a relative relationship betweenthe target object and the forward collision hazard region, where thecollision control includes collision warning and/or driving control.

In the embodiments, collision control is executed on the travelingobject based on the relationship between the detected target object andthe forward collision hazard region of the traveling object, so that thecollision control on the traveling object is more pertinent, efficient,and accurate.

In a possible implementation, the collision control execution module 30includes:

a hazard level determination submodule, configured to determine a hazardlevel of the target object based on the relative relationship betweenthe target object and the forward collision hazard region; and a firstcollision control execution submodule, configured to execute collisioncontrol corresponding to the hazard level on the traveling object.

In the embodiments, the relative relationship and the correspondencebetween the hazard level and the collision control are established, toimplement accurate and pertinent collision control on the target object.

In a possible implementation, the hazard level includes a first hazardlevel and a second hazard level, and the hazard level determinationsubmodule is configured to: determine the hazard level of the targetobject as the first hazard level if the target object is in the forwardcollision hazard region; and determine the hazard level of the targetobject as the second hazard level if the target object is outside theforward collision hazard region.

In this manner, target objects in the forward collision hazard regionand outside the forward collision hazard region are classified intodifferent hazard levels, so that collision control may be executed moreaccurately.

In a possible implementation, the hazard level further includes a thirdhazard level, and the hazard level determination submodule is configuredto determine the hazard level of the target object as the third hazardlevel if the target object is outside the forward collision hazardregion and the target object moves into the forward collision hazardregion.

In the embodiments, the hazard level of the target object is determinedbased on the relative relationship between the target object and theforward collision hazard region, so that collision control is executedon the traveling object more pertinently. In this way, the collisioncontrol on the traveling object is more accurate.

In a possible implementation, the forward collision hazard regiondetermination module 20 includes: a first forward collision hazardregion determination submodule, configured to determine the forwardcollision hazard region of the traveling object based on a hazarddistance, the width of the traveling object, and/or the width of a roadwhere the traveling object is located.

In the embodiments, the forward collision hazard region of the travelingobject determined based on the hazard distance, the width of thetraveling object, and/or the width of the road where the travelingobject is located may more conform to factors such as parameters of thetraveling object and environment parameters, so that the collisioncontrol on the traveling object is more accurate.

In a possible implementation, the collision control execution module 30includes: a distance determination submodule, configured to determine adistance between the target object and the traveling object; and

a second collision control execution submodule, configured to executecollision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion and the distance.

In a possible implementation, as described above, the distance betweenthe target object and the traveling object may be determined based onthe detection on the target object in the image photographed by thetraveling object.

In a possible implementation, the collision control includes firstcollision control and second collision control, and the second collisioncontrol execution submodule is configured to: execute the firstcollision control on the traveling object if the target object is in theforward collision hazard region and the distance is less than or equalto a first distance threshold; or execute the second collision controlon the traveling object if the target object is in the forward collisionhazard region and the distance is greater than the first distancethreshold.

The level of the first collision control is higher than that of thesecond collision control, so that the shorter the distance from thetarget object in the forward collision hazard region to the travelingobject, the higher the level of collision control executed on thetraveling object. For example, the first collision control includeshigh-degree deceleration and high-volume sound reminding, and the secondcollision control includes medium-degree deceleration and medium-volumesound reminding.

In a possible implementation, the collision control includes thirdcollision control and fourth collision control, and the second collisioncontrol execution submodule is configured to: execute the thirdcollision control on the traveling object if the target object isoutside the forward collision hazard region and the distance is lessthan or equal to a second distance threshold; or execute the fourthcollision control on the traveling object if the target object isoutside the forward collision hazard region and the distance is greaterthan the second distance threshold.

The level of the third collision control is higher than that of thefourth collision control, so that the shorter the distance from thetarget object outside the forward collision hazard region to thetraveling object, the higher the level of collision control executed onthe traveling object. For example, the third collision control includesmedium-degree deceleration and medium-volume sound reminding, and thefourth collision control includes low-degree deceleration and low-volumesound reminding.

The first distance threshold is less than the second distance threshold.For example, for the target object in the forward collision hazardregion, a relatively small distance threshold (the first distancethreshold), such as 5 meters, is set due to a relatively high hazardlevel of the target object, to execute collision control as early aspossible. For the target object outside the forward collision hazardregion, a relatively large distance threshold (the second distancethreshold), such as 10 meters, is set due to a relatively low hazardlevel of the target object.

In the embodiments, collision control is executed on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region, and the distance between the targetobject and the traveling object. In this way, the collision control onthe traveling object is more accurate.

In a possible implementation, the collision control execution module 30includes: a collision time determination submodule, configured todetermine a collision time between the target object and the travelingobject; and a third collision control execution submodule, configured toexecute collision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion and the collision time.

In a possible implementation, the collision time T between the targetobject and the traveling object is determined based on a relative movingdirection between the target object and the traveling object, a distanceS in the relative moving direction, and a relative speed V. When thetarget object and the traveling object move toward each other, T=S/V.

In a possible implementation, the collision control includes fifthcollision control and sixth collision control, and the third collisioncontrol execution submodule is configured to: execute the fifthcollision control on the traveling object if the target object is in theforward collision hazard region and the collision time is less than orequal to a first time threshold; or execute the sixth collision controlon the traveling object if the target object is in the forward collisionhazard region and the collision time is greater than the first timethreshold.

In a possible implementation, the collision control includes seventhcollision control and eighth collision control, and the third collisioncontrol execution submodule is configured to: execute the seventhcollision control on the traveling object if the target object isoutside the forward collision hazard region and the collision time isless than or equal to a second time threshold; or execute the eighthcollision control on the traveling object if the target object isoutside the forward collision hazard region and the collision time isgreater than the second time threshold.

The first time threshold is less than the second time threshold. Forexample, for the target object in the forward collision hazard region, arelatively small time threshold (the first time threshold), such as 1minute, is set due to a relatively high hazard level of the targetobject, to execute collision control as early as possible. For thetarget object outside the forward collision hazard region, a relativelylarge time threshold (the second time threshold), such as 3 minutes, isset due to a relatively low hazard level of the target object.

In the embodiments, collision control is executed on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region, and the collision time between thetarget object and the traveling object. In this way, the collisioncontrol on the traveling object is more accurate.

In a possible implementation, the target object includes at least one ofthe following: a pedestrian, a vehicle, a non-motor vehicle, a plant, ananimal, an obstacle, a robot, or a building.

In a possible implementation, the target object detection module 10includes: a first target object detection submodule, configured todetect the target object in the image photographed by the travelingobject via a neural network.

The neural network is trained by using a training image set consistingof images of the target objects, and the target object in thephotographed image is identified by using the trained neural network. Atraining process of the neural network and a process of detecting thetarget object via the neural network are implemented by using relatedtechnologies.

In the embodiments, by detecting the target object based on the neuralnetwork, the target object may be detected quickly and accurately in theimage by using a powerful and accurate detection function of the neuralnetwork.

In some embodiments, functions or modules included in the collisioncontrol apparatus provided in the embodiments of the present disclosureare configured to execute the method described in the foregoingcollision control method embodiments. For specific implementationthereof, refer to the descriptions of the foregoing collision controlmethod embodiment. For brevity, details are not described here again.

The embodiments of the present disclosure further provide a computerreadable storage medium having computer program instruction storedthereon, where the foregoing collision control method is implementedwhen the computer program instructions are executed by a processor. Thecomputer readable storage medium may be a non-volatile computer readablestorage medium.

The embodiments of the present disclosure further provide an electronicdevice, including a processor, and a memory configured to storeprocessor executable instructions, where the processor directly orindirectly invokes the executable instructions to execute the foregoingcollision control method.

FIG. 7 is a block diagram of an electronic device according to anexemplary embodiment of the present disclosure. The electronic devicemay be provided as a terminal, a server, or other forms of devices. Theelectronic device includes a collision control apparatus 800. Forexample, the apparatus 800 may be a terminal such as a mobile phone, acomputer, a digital broadcast terminal, a message transceiver device, agame console, a tablet device, a medical device, a fitness device, apersonal digital assistant, or a vehicle-mounted device.

Referring to FIG. 7, the apparatus 800 may include one or more of thefollowing components: a processing component 802, a memory 804, a powercomponent 806, a multimedia component 808, an audio component 810, aninput/output (I/O) interface 812, a sensor component 814, and acommunications component 816.

The processing component 802 generally controls an overall operation ofthe apparatus 800, such as operations associated with display, atelephone call, data communication, a camera operation, and a recordingoperation. The processing component 802 may include one or moreprocessors 820 to execute an instruction, to complete all or some of thesteps of the foregoing method. In addition, the processing component 802may include one or more modules, to facilitate interaction between theprocessing component 802 and other components. For example, theprocessing component 802 includes a multimedia module, to facilitateinteraction between the multimedia component 808 and the processingcomponent 802.

The memory 804 is configured to store data of various types to supportoperations on the apparatus 800. For example, the data includes aninstruction, contact data, phone book data, a message, an image, or avideo of any application program or method operated on the apparatus800. The memory 804 is implemented by any type of volatile ornon-volatile storage device or a combination thereof, such as a StaticRandom Access Memory (SRAM), an Electrically Erasable ProgrammableRead-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory(EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory(ROM), a magnetic memory, a flash memory, a magnetic disk, or an opticaldisc.

The power component 806 supplies power to the components of theapparatus 800. The power component 806 may include a power managementsystem, one or more power supplies, and other components associated withpower generation, management, and distribution for the apparatus 800.

The multimedia component 808 includes a screen between the apparatus 800and a user to provide an output interface. In some embodiments, thescreen may include a Liquid Crystal Display (LCD) and a Touch Panel(TP). If the screen includes the touch panel, the screen is implementedas a touchscreen, to receive an input signal from the user. The touchpanel includes one or more touch sensors to sense a touch, a slide, anda gesture on the touch panel. The touch sensor may not only sense aboundary of a touch action or a slide action, but also detect theduration and pressure related to the touch operation or the slideoperation. In some embodiments, the multimedia component 808 includes afront-facing camera and/or a rear-facing camera. When the apparatus 800is in an operation mode, for example, a photographing mode or a videomode, the front-facing camera and/or the rear-facing camera may receiveexternal multimedia data. Each front-facing camera or rear-facing camerais a fixed optical lens system or has a focal length and an optical zoomcapability.

The audio component 810 is configured to output and/or input an audiosignal. For example, the audio component 810 includes one microphone(MIC). When the apparatus 800 is in an operation mode, such as a callmode, a recording mode, or a voice recognition mode, the microphone isconfigured to receive an external audio signal. The received audiosignal is further stored in the memory 804 or sent by means of thecommunications component 816. In some embodiments, the audio component810 further includes a speaker, configured to output an audio signal.

The I/O interface 812 provides an interface between the processingcomponent 802 and a peripheral interface module, and the peripheralinterface module is a keyboard, a click wheel, a button, or the like.These buttons may include but are not limited to a home button, a volumebutton, a startup button, and a lock button.

The sensor component 814 includes one or more sensors, and is configuredto provide status evaluation in various aspects for the apparatus 800.For example, the sensor component 814 may detect an on/off state of theapparatus 800 and relative positioning of the components, for example,the components are a display and a keypad of the apparatus 800. Thesensor component 814 may also detect a location change of the apparatus800 or a component of the apparatus 800, existence or nonexistence ofcontact between the user and the apparatus 800, an orientation oracceleration/deceleration of the apparatus 800, and a temperature changeof the apparatus 800. The sensor component 814 may include a proximitysensor, configured to detect existence of a nearby object when there isno physical contact. The sensor component 814 may further include anoptical sensor, such as a CMOS or CCD image sensor, configured for usein an imaging application. In some embodiments, the sensor component 814may further include an acceleration sensor, a gyro sensor, a magneticsensor, a pressure sensor, or a temperature sensor.

The communications component 816 is configured to facilitate wired orwireless communication between the apparatus 800 and other devices. Theapparatus 800 is connected to a communication standard-based wirelessnetwork, such as Wi-Fi, 2G or 3G, or a combination thereof. In anexemplary embodiment, the communications component 816 receives abroadcast signal or broadcast-related information from an externalbroadcast management system through a broadcast channel. In an exemplaryembodiment, the communications component 816 further includes a NearField Communication (NFC) module, to promote short-range communication.For example, the NFC module is implemented based on a Radio FrequencyIdentification (RFID) technology, an Infrared Data Association (IrDA)technology, an Ultra Wideband (UWB) technology, a Bluetooth (BT)technology, and other technologies.

In an exemplary embodiment, the apparatus 800 is implemented by one ormore of an Application Specific Integrated Circuit (ASIC), a DigitalSignal Processor (DSP), a Digital Signal Processing Device (DSPD), aProgrammable Logic Device (PLD), a Field Programmable Gate Array (FPGA),a controller, a microcontroller, a microprocessor, or other electroniccomponents, and is configured to perform the foregoing method.

In an exemplary embodiment, a non-volatile computer readable storagemedium, for example, the memory 804 including a computer programinstruction, is further provided. The computer program instruction isexecuted by the processor 820 of the apparatus 800 to complete theforegoing method.

In an exemplary embodiment, a computer program is further provided. Anyone of the foregoing methods is executed if the computer program isexecuted by a processor. For example, the computer program is executedby the processor 820 of the apparatus 800 to complete any one of theforegoing methods.

The present disclosure may be a system, a method, and/or a computerprogram product. The computer program product may include a computerreadable storage medium, on which computer readable program instructionsused by the processor to implement various aspects of the presentdisclosure are stored.

The computer readable storage medium is a tangible device that canmaintain and store instructions used by an instruction execution device.For example, the computer readable storage medium may be, but notlimited to, an electrical storage device, a magnetic storage device, anoptical storage device, an electromagnetic storage device, asemiconductor storage device, or any appropriate combination thereof.More specific examples (a non-exhaustive list) of the computer readablestorage medium include a portable computer disk, a hard disk, a RandomAccess Memory (RAM), a Read-Only Memory (ROM), an Erasable ProgrammableRead-Only Memory (EPROM or flash memory), a Static Random Access Memory(SRAM), a portable Compact Disc Read-Only Memory (CD-ROM), a DigitalVersatile Disk (DVD), a memory stick, a floppy disk, a mechanical codingdevice such as a punched card storing an instruction or a protrusionstructure in a groove, and any appropriate combination thereof. Thecomputer readable storage medium used here is not interpreted as aninstantaneous signal such as a radio wave or other freely propagatedelectromagnetic wave, an electromagnetic wave propagated by a waveguideor other transmission media (for example, an optical pulse transmittedby an optical fiber cable), or an electrical signal transmitted by awire.

The computer readable program instruction described here is downloadedfrom a computer readable storage medium to each computing/processingdevice, or downloaded to an external computer or an external storagedevice via a network, such as the Internet, a local area network, a widearea network, and/or a wireless network. The network may include acopper transmission cable, optical fiber transmission, wirelesstransmission, a router, a firewall, a switch, a gateway computer, and/oran edge server. A network adapter card or a network interface in eachcomputing/processing device receives the computer readable programinstruction from the network, and forwards the computer readable programinstruction, so that the computer readable program instruction is storedin a computer readable storage medium in each computing/processingdevice.

Computer program instructions for executing the operations of thepresent disclosure are compilation instructions, instruction setarchitecture (ISA) instructions, machine instructions, machine-relatedinstructions, microcode, firmware instructions, status setting data, orsource code or target code written in any combination of one or moreprogramming languages. The programming languages include anobject-oriented programming language such as Smalltalk or C++, and aconventional procedural programming language such as the “C” language ora similar programming language. The program readable programinstructions can be completely executed on a user computer, partiallyexecuted on a user computer, executed as an independent softwarepackage, executed partially on a user computer and partially on a remotecomputer, or completely executed on a remote computer or a server. Inthe case of a remote computer, the remote computer may be connected to auser computer via any type of network, including a Local Area Network(LAN) or a Wide Area Network (WAN), or may be connected to an externalcomputer (for example, connected via the Internet with the aid of anInternet service provider). In some embodiments, an electronic circuitsuch as a programmable logic circuit, a Field Programmable Gate Array(FPGA), or a Programmable Logic Array (PLA) is personalized by usingstatus information of the computer readable program instructions, andthe electronic circuit can execute the computer readable programinstructions to implement various aspects of the present disclosure.

Various aspects of the present disclosure are described here withreference to the flowcharts and/or block diagrams of the methods,apparatuses (systems), and computer program products according to theembodiments of the present disclosure. It should be understood that eachblock in the flowcharts and/or block diagrams and a combination of theblocks in the flowcharts and/or block diagrams can be implemented withthe computer readable program instructions.

These computer readable program instructions may be provided for ageneral-purpose computer, a dedicated computer, or a processor ofanother programmable data processing apparatus to generate a machine, sothat when the instructions are executed by the computer or theprocessors of other programmable data processing apparatuses, anapparatus for implementing a specified function/action in one or moreblocks in the flowcharts and/or block diagrams is generated. Thesecomputer readable program instructions may also be stored in a computerreadable storage medium, and these instructions instruct a computer, aprogrammable data processing apparatus, and/or other devices to work ina specific manner. Therefore, the computer readable storage mediumhaving the instructions stored thereon includes a manufacture, and themanufacture includes instructions for implementing specifiedfunctions/actions in one or more blocks in the flowcharts and/or blockdiagrams.

The computer readable program instructions may also be loaded onto acomputer, other programmable data processing apparatuses, or otherdevices, so that a series of operations and steps are executed on thecomputer, the other programmable apparatuses, or the other devices,thereby generating computer-implemented processes. Therefore, theinstructions executed on the computer, the other programmableapparatuses, or the other devices implement the specifiedfunctions/actions in the one or more blocks in the flowcharts and/orblock diagrams.

The flowcharts and block diagrams in the accompanying drawings showarchitectures, functions, and operations that may be implemented by thesystems, methods, and computer program products in the embodiments ofthe present disclosure. In this regard, each block in the flowcharts orblock diagrams may represent a module, a program segment, or a part ofinstruction, and the module, the program segment, or the part ofinstruction includes one or more executable instructions forimplementing a specified logical function. In some alternativeimplementations, functions marked in the block may also occur in anorder different from that marked in the accompanying drawings. Forexample, two consecutive blocks are actually executed substantially inparallel, or are sometimes executed in a reverse order, depending on theinvolved functions. It should also be noted that each block in the blockdiagrams and/or flowcharts and a combination of blocks in the blockdiagrams and/or flowcharts may be implemented by using a dedicatedhardware-based system configured to execute specified functions oractions, or may be implemented by using a combination of dedicatedhardware and computer instructions.

The embodiments of the present disclosure are described above. Theforegoing descriptions are exemplary but not exhaustive, and are notlimited to the disclosed embodiments. For a person of ordinary skill inthe art, many modifications and variations are all obvious withoutdeparting from the scope and spirit of the described embodiments. Theterms used herein are intended to best explain the principles of theembodiments, practical applications, or technical improvements to thetechnologies in the market, or to enable other persons of ordinary skillin the art to understand the embodiments disclosed herein.

What is claimed is:
 1. A collision control method, wherein the methodcomprises: detecting a target object in an image photographed by atraveling object; determining a forward collision hazard region of thetraveling object; and executing collision control on the travelingobject based on a relative relationship between the target object andthe forward collision hazard region, wherein the collision controlcomprises collision warning and/or driving control, wherein determiningthe forward collision hazard region of the traveling object comprises:determining the forward collision hazard region of the traveling objectbased on a hazard distance and at least one of the width of thetraveling object or the width of a road where the traveling object islocated, wherein executing collision control on the traveling objectbased on the relative relationship between the target object and theforward collision hazard region comprises: determining a distancebetween the target object and the traveling object; and executingcollision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion and the distance.
 2. The method according to claim 1, whereinexecuting collision control on the traveling object based on therelative relationship between the target object and the forwardcollision hazard region comprises: determining a hazard level of thetarget object based on the relative relationship between the targetobject and the forward collision hazard region; and executing collisioncontrol corresponding to the hazard level on the traveling object. 3.The method according to claim 2, wherein the hazard level comprises afirst hazard level and a second hazard level, and determining the hazardlevel of the target object based on the relative relationship betweenthe target object and the forward collision hazard region comprises:determining the hazard level of the target object as the first hazardlevel if the target object is in the forward collision hazard region; ordetermining the hazard level of the target object as the second hazardlevel if the target object is outside the forward collision hazardregion.
 4. The method according to claim 3, wherein the hazard levelfurther comprises a third hazard level, and determining the hazard levelof the target object based on the relative relationship between thetarget object and the forward collision hazard region comprises:determining the hazard level of the target object as the third hazardlevel if the target object is outside the forward collision hazardregion and the target object moves into the forward collision hazardregion.
 5. The method according to claim 1, wherein the collisioncontrol comprises first collision control and second collision control,and executing collision control on the traveling object based on therelative relationship between the target object and the forwardcollision hazard region and the distance comprises: executing the firstcollision control on the traveling object if the target object is in theforward collision hazard region and the distance is less than or equalto a first distance threshold; or executing the second collision controlon the traveling object if the target object is in the forward collisionhazard region and the distance is greater than the first distancethreshold, or the collision control comprises third collision controland fourth collision control, and executing collision control on thetraveling object based on the relative relationship between the targetobject and the forward collision hazard region and the distancecomprises: executing the third collision control on the traveling objectif the target object is outside the forward collision hazard region andthe distance is less than or equal to a second distance threshold; orexecuting the fourth collision control on the traveling object if thetarget object is outside the forward collision hazard region and thedistance is greater than the second distance threshold.
 6. The methodaccording to claim 1, wherein executing collision control on thetraveling object based on the relative relationship between the targetobject and the forward collision hazard region comprises: determining acollision time between the target object and the traveling object; andexecuting collision control on the traveling object based on therelative relationship between the target object and the forwardcollision hazard region and the collision time.
 7. The method accordingto claim 6, wherein the collision control comprises fifth collisioncontrol and sixth collision control, and executing collision control onthe traveling object based on the relative relationship between thetarget object and the forward collision hazard region and the collisiontime comprises: executing the fifth collision control on the travelingobject if the target object is in the forward collision hazard regionand the collision time is less than or equal to a first time threshold;executing the sixth collision control on the traveling object if thetarget object is in the forward collision hazard region and thecollision time is greater than the first time threshold, or thecollision control comprises seventh collision control and eighthcollision control, and executing collision control on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region and the collision time comprises:executing the seventh collision control on the traveling object if thetarget object is outside the forward collision hazard region and thecollision time is less than or equal to a second time threshold; orexecuting the eighth collision control on the traveling object if thetarget object is outside the forward collision hazard region and thecollision time is greater than the second time threshold.
 8. The methodaccording to claim 1, wherein detecting the target object in the imagephotographed by the traveling object comprises: detecting the targetobject in the image photographed by the traveling object via a neuralnetwork.
 9. A collision control apparatus, wherein the apparatuscomprises: a processor; and a memory configured to store processorexecutable instructions which, when executed by the processor, cause theprocessor to: detect a target object in an image photographed by atraveling object; determine a forward collision hazard region of thetraveling object; and execute collision control on the traveling objectbased on a relative relationship between the target object and theforward collision hazard region, wherein the collision control comprisescollision warning and/or driving control, wherein determining theforward collision hazard region of the traveling object comprises:determining the forward collision hazard region of the traveling objectbased on a hazard distance and at least one of the width of thetraveling object or the width of a road where the traveling object islocated, wherein executing collision control on the traveling objectbased on the relative relationship between the target object and theforward collision hazard region comprises: determining a distancebetween the target object and the traveling object; and executingcollision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion and the distance.
 10. The apparatus according to claim 9, whereinexecuting collision control on the traveling object based on therelative relationship between the target object and the forwardcollision hazard region comprises: determining a hazard level of thetarget object based on the relative relationship between the targetobject and the forward collision hazard region; and executing collisioncontrol corresponding to the hazard level on the traveling object. 11.The apparatus according to claim 10, wherein the hazard level comprisesa first hazard level and a second hazard level, and determining thehazard level of the target object based on the relative relationshipbetween the target object and the forward collision hazard regioncomprises: determining the hazard level of the target object as thefirst hazard level if the target object is in the forward collisionhazard region; or determining the hazard level of the target object asthe second hazard level if the target object is outside the forwardcollision hazard region.
 12. The apparatus according to claim 11,wherein the hazard level further comprises a third hazard level, anddetermining the hazard level of the target object based on the relativerelationship between the target object and the forward collision hazardregion comprises: determining the hazard level of the target object asthe third hazard level if the target object is outside the forwardcollision hazard region and the target object moves into the forwardcollision hazard region.
 13. The apparatus according to claim 9, whereinthe collision control comprises first collision control and secondcollision control, and executing collision control on the travelingobject based on the relative relationship between the target object andthe forward collision hazard region and the distance comprises:executing the first collision control on the traveling object if thetarget object is in the forward collision hazard region and the distanceis less than or equal to a first distance threshold; or executing thesecond collision control on the traveling object if the target object isin the forward collision hazard region and the distance is greater thanthe first distance threshold, or the collision control comprises thirdcollision control and fourth collision control, and executing collisioncontrol on the traveling object based on the relative relationshipbetween the target object and the forward collision hazard region andthe distance comprises: executing the third collision control on thetraveling object if the target object is outside the forward collisionhazard region and the distance is less than or equal to a seconddistance threshold; or executing the fourth collision control on thetraveling object if the target object is outside the forward collisionhazard region and the distance is greater than the second distancethreshold.
 14. The apparatus according to claim 9, wherein executingcollision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion comprises: determining a collision time between the target objectand the traveling object; and executing collision control on thetraveling object based on the relative relationship between the targetobject and the forward collision hazard region and the collision time.15. The apparatus according to claim 14, wherein the collision controlcomprises fifth collision control and sixth collision control, andexecuting collision control on the traveling object based on therelative relationship between the target object and the forwardcollision hazard region and the collision time comprises: executing thefifth collision control on the traveling object if the target object isin the forward collision hazard region and the collision time is lessthan or equal to a first time threshold; or executing the sixthcollision control on the traveling object if the target object is in theforward collision hazard region and the collision time is greater thanthe first time threshold, or the collision control comprises seventhcollision control and eighth collision control, and executing collisioncontrol on the traveling object based on the relative relationshipbetween the target object and the forward collision hazard region andthe collision time comprises: executing the seventh collision control onthe traveling object if the target object is outside the forwardcollision hazard region and the collision time is less than or equal toa second time threshold; or executing the eighth collision control onthe traveling object if the target object is outside the forwardcollision hazard region and the collision time is greater than thesecond time threshold.
 16. A non-transitory computer readable storagemedium having computer program instructions stored thereon, wherein whenthe computer program instructions are executed by a processor, theprocessor is caused to implement a collision control method comprising:detecting a target object in an image photographed by a travelingobject; determining a forward collision hazard region of the travelingobject; and executing collision control on the traveling object based ona relative relationship between the target object and the forwardcollision hazard region, wherein the collision control comprisescollision warning and/or driving control, wherein determining theforward collision hazard region of the traveling object comprises:determining the forward collision hazard region of the traveling objectbased on a hazard distance and at least one of the width of thetraveling object or the width of a road where the traveling object islocated, wherein executing collision control on the traveling objectbased on the relative relationship between the target object and theforward collision hazard region comprises: determining a distancebetween the target object and the traveling object; and executingcollision control on the traveling object based on the relativerelationship between the target object and the forward collision hazardregion and the distance.